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4.1 Given the following forward transfer function:

G(P) = 2 / (s + 3)

Assume that you have introduced proportional plus integral controller (G(c)) with gains of Kcp and Kci respectively within the closed loop system. Workout the values for Kcp and Kci so that the peak time Tp is 0.2 sec and the settling time Ts is less than 0.4 sec.

4.2 Complete the empty fields within the table below in reflecting the effect of each of the PID controller gains on the closed loop control system performance factors.

Fig: 1